点云可视化：PCL中pcl::visualization::PCLVisualizer类

代码头文件如下

#include//标准C++库中的输入输出类相关头文件。
#include 
#include 
#include 
#include 
#include 
#include 
using namespace pcl;
using namespace std;

1.读取点云 点云格式为XYZRGB,并可以更改背景色

	pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
	pcl::PCDReader r;
	r.read("out_vccs_knn.pcd", *cloud);
	boost::shared_ptr< pcl::visualization::PCLVisualizer > viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->initCameraParameters();
	viewer->setBackgroundColor(28, 28, 28);
	viewer->addPointCloud(cloud, "sample cloud");
	cout << "显示成功！" << endl;
	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 2, "sample cloud");
	viewer->addCoordinateSystem(1.0);
	viewer->initCameraParameters();
	while (!viewer->wasStopped()) {
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(1000));
	}

2.读取点云 点云格式为XYZ

	pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
	pcl::PCDReader r;
	r.read("a12.pcd", *cloud);
	pcl::visualization::CloudViewer viewer("Cloud Viewer");
	viewer.showCloud(cloud);
	while (!viewer.wasStopped())
	{
	}

3.读取点云 点云格式为XYZRGB

	pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
	//pcl::PCDReader r;
	//r.read("F:\\Tencent Files\\image.pcd", *cloud);
	string  filename1 = "F:\\Tencent Files\\image.pcd";
	pcl::io::loadPCDFile(filename1, *cloud);
	cout << "读取点云成功！" << endl;
	pcl::visualization::CloudViewer viewer("Cloud Viewer");
	viewer.showCloud(cloud);
	while (!viewer.wasStopped())
	{
	}